import java.util.concurrent.LinkedBlockingQueue;
import java.util.LinkedList;
import java.util.Iterator;
-import gnu.io.*;
-import altosui.AltosSerialMonitor;
+
+import libaltosJNI.*;
/*
* This class reads from the serial port and places each received
* line in a queue. Dealing with that queue is left up to other
* threads.
*/
-class AltosSerialReader implements Runnable {
- InputStream serial_in;
- LinkedBlockingQueue<String> monitor_queue;
- LinkedBlockingQueue<String> reply_queue;
+
+public class AltosSerial implements Runnable {
+
+ SWIGTYPE_p_altos_file altos;
+ LinkedList<LinkedBlockingQueue<AltosLine>> monitors;
+ LinkedBlockingQueue<AltosLine> reply_queue;
Thread input_thread;
String line;
+ byte[] line_bytes;
+ int line_count;
+ boolean monitor_mode;
public void run () {
int c;
try {
for (;;) {
- c = serial_in.read();
+ c = libaltos.altos_getchar(altos, 0);
if (Thread.interrupted())
break;
- if (c == -1)
+ if (c == libaltosConstants.LIBALTOS_ERROR) {
+ for (int e = 0; e < monitors.size(); e++) {
+ LinkedBlockingQueue<AltosLine> q = monitors.get(e);
+ q.put(new AltosLine());
+ }
+ reply_queue.put (new AltosLine());
+ break;
+ }
+ if (c == libaltosConstants.LIBALTOS_TIMEOUT)
continue;
if (c == '\r')
continue;
synchronized(this) {
if (c == '\n') {
- if (line != "") {
- if (line.startsWith("VERSION"))
- monitor_queue.put(line);
- else
- reply_queue.put(line);
+ if (line_count != 0) {
+ try {
+ line = new String(line_bytes, 0, line_count, "UTF-8");
+ } catch (UnsupportedEncodingException ue) {
+ line = "";
+ for (int i = 0; i < line_count; i++)
+ line = line + line_bytes[i];
+ }
+ if (line.startsWith("VERSION") || line.startsWith("CRC")) {
+ for (int e = 0; e < monitors.size(); e++) {
+ LinkedBlockingQueue<AltosLine> q = monitors.get(e);
+ q.put(new AltosLine (line));
+ }
+ } else {
+// System.out.printf("GOT: %s\n", line);
+ reply_queue.put(new AltosLine (line));
+ }
+ line_count = 0;
line = "";
}
} else {
- line = line + (char) c;
+ if (line_bytes == null) {
+ line_bytes = new byte[256];
+ } else if (line_count == line_bytes.length) {
+ byte[] new_line_bytes = new byte[line_count * 2];
+ System.arraycopy(line_bytes, 0, new_line_bytes, 0, line_count);
+ line_bytes = new_line_bytes;
+ }
+ line_bytes[line_count] = (byte) c;
+ line_count++;
}
}
}
- } catch (IOException e) {
} catch (InterruptedException e) {
}
}
- public String get_telem() throws InterruptedException {
- String s = monitor_queue.take();
- System.out.println(s);
- return s;
+ public void flush_output() {
+ if (altos != null)
+ libaltos.altos_flush(altos);
}
- public String get_reply() throws InterruptedException {
- return reply_queue.take();
- }
-
- public void flush () {
+ public void flush_input() {
+ flush_output();
+ try {
+ Thread.sleep(200);
+ } catch (InterruptedException ie) {
+ }
synchronized(this) {
- if (!"VERSION".startsWith(line) && !line.startsWith("VERSION"))
+ if (!"VERSION".startsWith(line) &&
+ !line.startsWith("VERSION"))
line = "";
reply_queue.clear();
}
}
+ public String get_reply() throws InterruptedException {
+ flush_output();
+ AltosLine line = reply_queue.take();
+ return line.line;
+ }
+
+ public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
+ set_monitor(true);
+ monitors.add(q);
+ }
+
+ public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
+ monitors.remove(q);
+ if (monitors.isEmpty())
+ set_monitor(false);
+ }
+
public boolean opened() {
- return serial_in != null;
+ return altos != null;
}
public void close() {
- if (serial_in != null) {
- try {
- serial_in.close();
- } catch (IOException e) {
- }
- serial_in = null;
+ if (altos != null) {
+ libaltos.altos_close(altos);
}
if (input_thread != null) {
try {
}
input_thread = null;
}
- }
-
- public void open(File name) throws FileNotFoundException {
- close();
- serial_in = new FileInputStream(name);
- input_thread = new Thread(this);
- input_thread.start();
- }
- public void open(CommPort c) throws IOException {
- close();
- try {
- c.enableReceiveTimeout(1000); /* icky. the read method cannot be interrupted */
- } catch (UnsupportedCommOperationException ee) {
+ if (altos != null) {
+ libaltos.altos_free(altos);
+ altos = null;
}
- serial_in = c.getInputStream();
- input_thread = new Thread(this);
- input_thread.start();
- }
- public AltosSerialReader () {
- serial_in = null;
- input_thread = null;
- line = "";
- monitor_queue = new LinkedBlockingQueue<String> ();
- reply_queue = new LinkedBlockingQueue<String> ();
}
-}
-
-public class AltosSerial {
- OutputStream serial_out = null;
- AltosSerialReader reader = null;
-
- public String get_telem() throws InterruptedException {
- return reader.get_telem();
+ public void putc(char c) {
+ if (altos != null)
+ libaltos.altos_putchar(altos, c);
}
- CommPort comm_port = null;
-
- public void close() {
- try {
- serial_out.close();
- } catch (IOException ee) {
- }
- reader.close();
- if (comm_port != null) {
- comm_port.close();
- }
+ public void print(String data) {
+// System.out.printf("\"%s\" ", data);
+ for (int i = 0; i < data.length(); i++)
+ putc(data.charAt(i));
}
- public void open(File serial_name) throws FileNotFoundException {
- reader.open(serial_name);
- serial_out = new FileOutputStream(serial_name);
+ public void printf(String format, Object ... arguments) {
+ print(String.format(format, arguments));
}
- public void open(CommPort c) throws IOException {
- reader.open(c);
- serial_out = c.getOutputStream();
+ public void open(altos_device device) throws FileNotFoundException {
+ close();
+ altos = libaltos.altos_open(device);
+ if (altos == null)
+ throw new FileNotFoundException(device.getPath());
+ input_thread = new Thread(this);
+ input_thread.start();
+ print("~\nE 0\n");
+ flush_output();
+ set_monitor(monitor_mode);
+ set_channel(AltosPreferences.channel(device.getSerial()));
+ set_callsign(AltosPreferences.callsign());
+ }
+
+ public void set_channel(int channel) {
+ if (altos != null) {
+ if (monitor_mode)
+ printf("m 0\nc r %d\nm 1\n", channel);
+ else
+ printf("c r %d\n", channel);
+ flush_output();
+ }
}
- public void connect(String port_name) throws IOException, NoSuchPortException, PortInUseException {
- comm_port = new RXTXPort(port_name);
- open(comm_port);
+ void set_monitor(boolean monitor) {
+ monitor_mode = monitor;
+ if (altos != null) {
+ if (monitor)
+ printf("m 1\n");
+ else
+ printf("m 0\n");
+ flush_output();
+ }
}
- void init() {
- reader = new AltosSerialReader();
+ public void set_callsign(String callsign) {
+ if (altos != null) {
+ printf ("c c %s\n", callsign);
+ flush_output();
+ }
}
public AltosSerial() {
- init();
- }
-
- public AltosSerial(File serial_name) throws FileNotFoundException {
- init();
- open(serial_name);
- }
-
- public AltosSerial(CommPort comm_port) throws IOException {
- init();
- open(comm_port);
+ altos = null;
+ input_thread = null;
+ line = "";
+ monitor_mode = false;
+ monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();
+ reply_queue = new LinkedBlockingQueue<AltosLine> ();
}
}
projects / fw / altos / blobdiff